The Dragon Balls are used to locate Tarble and things go the same from there.
Making things more interesting by going with the Super manga canon, in which Tarble's existence is debatable, let's say he doesn't exist.
The first scenario is Goku brings a dead Saiyan from Otherworld to fill the role. Let's say he picks Raditz since that's the Saiyan he's most familiar with and Raditz is allowed to stay on Earth for 24 hours. Things then go the same for Goku VS Beerus. Upon seeing how much Vegeta has changed, how strong Goku has become and how the Saiyan race has become, expresses his wishes and regrets at how he's been and wants to change as they have. Having known how even Vegeta could change for the better, Goku uses the Dragon Balls to revive him and Raditz tries to work his way up from nothing. He remains irrelevant until the Tournament of Power, where he takes the slot Freeza would. By then, he'd have been given the opportunities he needed to ascend to SSB and whilst nowhere near Goku and Vegeta yet, he'd still be a mid tier amongst the team. That said, he isn't quite strong enough to play the role Freeza did. Manga-wise, #17 takes it upon himself to defeat fatigued Jiren, whereas Jiren wins anime-wise.
Second scenario is a less likely one, but an interesting thought. Goku goes to Elder Kaioshin to see if he can divinate if there are any surviving Saiyans. Either he finds Tarble, or...he finds Broly and Paragus. With the latter, the BoG Arc occurs as normal and Goku becomes friends with Broly, who starts staying on Earth. When Freeza is revived months later, he kills Paragus and an enraged Broly quickly kills Freeza. Without the gains they got in the anime or PSSB in the manga, even SSB Gogeta is unable to contend with Broly who kills him and continues causing chaos in the universe. If Beerus decides to step in, he fights Broly at full power and wins due to superior skill, before offering to train him as his successor.
